Design and implementation of a dual-modal civil aircraft maintenance intelligent follow robot based on UWB and vision

Abstract

With the continuous growth of the global civil aviation industry, aircraft route maintenance and overhauls face unprecedented challenges. Traditional manual maintenance methods are not only inefficient but also susceptible to human factors, posing safety risks. To address this challenge, this paper designs and implements an intelligent follow-up robot for aircraft maintenance, based on UWB (Ultra Wide Band) and vision, utilizing a four-wheel differential chassis and a dualmodal control algorithm combining PDOA (Phase Difference of Arrival) and depth camera-based target recognition. Through experiments with the prototype in actual aircraft maintenance scenarios, the robot is capable of assisting maintenance personnel in safely and reliably transporting items weighing up to 80 kg under various environmental conditions, including strong signal interference and poor line-of-sight. The robot designed in this paper can autonomously and accurately follow maintenance personnel to transport wheel chocks, tools, equipment, and aircraft materials, significantly improving the automation, intelligence, and safety of aircraft maintenance operations.